Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 233 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 180 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 13

MISSION 6 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 11.5

DIVE 233 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 350 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.5

STOP_T 0 N_FILEKB 4 VBD_MIN 400 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 2500 MOTHERBOARD 6

D_TGT 220 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 3 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 72

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_DIVE 70 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 100 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 185 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3625 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2100 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 MAXI_10V 1.4 SEABIRD_T_G 0.0042874566

D_OFFGRID 1000 PITCH_GAIN 45 FG_AHR_10V 11.185634 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 46.52951 SEABIRD_T_I 2.1947648e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.2037441e-06

MAX_BUOY 100 PITCH_ADJ_GAIN 0 PRESSURE_YINT -154.46213 SEABIRD_C_G -9.9419231

GLIDE_SLOPE 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022299301 SEABIRD_C_H 1.1375728

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0016241658

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002088599

MASS 55693 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 360 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139236 ROLL_MAX 3880 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 3230 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 3000 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00062267116

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.1947648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_FREQUENCY 13 D_TGT 220 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 11.185634 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 46.52951 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3625 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0139236 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 185 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 180 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_ABORT 1440

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PRESSURE_SLOPE 0.00022299301 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -154.46213 T_DIVE 70

C_PITCH 2100 LOGGERDEVICE1 7 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 72 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 3000 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 100

C_ROLL_DIVE 3230 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2500 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 2

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 55693 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.4 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3880 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 100 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 360 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 233 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 400

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 3 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9419231 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1375728 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.0016241658 XPDR_INT 13

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.0002088599 XPDR_REP 11.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0042874566 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 280922,015632,3712.314,-12459.844,34,0.7,35,13.4 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280922,020043,3712.316,-12459.857,2,0.8,5,13.4 MHEAD_RNG_PITCHd_Wd 350.2,14972,-25.5,-10.476,-29.53,1425,0.164

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME LineB_1 IRON 1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024

TGT_LATLONG 3720.400,-12500.000

Post-dive calculations and measurements:

FINISH 0.1,1.023511 FG_AHR_10Vo 11.211

SM_CCo 3216.51,24.42,0.995,0,1073.7,1060.5,1086.9,349.87 MEM0 60148,1,0,0

SM_GC 3.07,24.42,6.68,0.37,0.995,0.128,0.087,1073.7,1060.5,1086.9,175.1,3256.6,0,0,0,12.42,15.93,16.00 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 910148,32,135960,91

IRIDIUM_FIX 3710.93,-12502.40,280922,004045 DATA_FILE_SIZE 16108,633

TCM_TEMP 17.07 CAP_FILE_SIZE 262937,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3817792

SC_FREEKB 3808352 SDFILEDIR 1342,1

HUMID 52.50 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.10 CURRENT 0.049,306.3,1

INTERNAL_PRESSURE 8.79763 IMPLIED_C_PITCH 2046,30.45,452,0.0,0.00

_24V_AH 15.00,55.131 IMPLIED_C_VBD 2299,28.824415,451,0

_10V_AH 15.00,0.000 GPS 280922,025454,3712.797,-12459.820,4,1.3,7,13.4

FG_AHR_24Vo 46.645

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 423 1236 7860.81 nil 0 0 0.00

Pitch_motor 17 472 125.62 nil 0 0 0.00

Roll_motor 42 145 92.29 nil 0 0 0.00

Iridium 170 173 444.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 797 6 81.34 SciCon 3204 18 884.64

Fast 14 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 1667 2 50.03

Compass 716 5 53.77

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.38 16386 -97.32 -0.69 0.00 1066.6 1058.1 1075.1 174.8 3116.5 0.00 0.00 0 64.23 56.33 0.00 0.00 0.005 0.000 0.000 2151.06 2193.19 2108.94 174.81 3116.94 0 0 0 15.66 30.00 30.00

64.48 18983 -97.32 -0.69 -40.00 2150.7 2192.0 2109.4 174.9 3117.2 3.06 -3.54 11 100.75 21.55 9.28 2.10 0.006 0.473 0.025 2896.78 2962.25 2831.31 1879.94 1744.12 0 0 0 15.73 15.45 15.70

103.00 1028 -97.32 -0.69 0.00 2897.1 2961.1 2833.1 1879.9 1733.6 10.10 -16.46 19 108.58 0.00 0.00 2.60 0.000 0.000 0.077 2898.50 2962.38 2834.62 1879.94 3249.31 0 0 0 30.00 30.00 15.87

293.05 260 -97.32 -0.69 40.00 2899.1 2960.1 2838.2 1880.1 3249.5 47.34 -13.75 57 297.50 0.00 0.00 1.09 0.000 0.000 0.095 2899.53 2960.75 2838.31 1876.19 3899.44 0 0 0 30.00 30.00 15.92

383.08 1028 -97.32 -0.69 0.00 2899.5 2959.6 2839.3 1876.3 3899.5 58.72 -12.23 75 387.56 0.00 0.00 1.11 0.000 0.000 0.036 2900.78 2961.12 2840.44 1876.38 3161.88 0 0 0 30.00 30.00 15.98

568.36 516 -97.32 -0.69 -40.00 2900.9 2960.4 2841.4 1876.7 3160.1 80.34 -11.88 112 573.63 0.00 0.00 2.16 0.000 0.000 0.021 2901.34 2961.38 2841.31 1875.88 1724.25 0 0 0 30.00 30.00 16.02

583.30 1028 -97.32 -0.69 0.00 2900.9 2960.0 2841.8 1875.8 1719.8 82.04 -11.49 115 588.71 0.00 0.00 2.60 0.000 0.000 0.081 2902.50 2961.50 2843.50 1876.12 3249.19 0 0 0 30.00 30.00 16.00

773.19 0 -97.32 -0.69 0.00 2901.4 2960.3 2842.4 1876.1 3248.4 103.59 -11.18 153 774.52 0.00 0.00 0.00 0.000 0.000 0.000 2901.91 2961.00 2842.81 1876.25 3248.50 0 0 0 30.00 30.00 30.00

1078.24 516 -97.32 -0.69 -40.00 2901.1 2959.9 2842.2 1876.2 3249.1 138.72 -10.97 214 1083.78 0.00 0.00 2.34 0.000 0.000 0.024 2901.84 2961.00 2842.69 1875.81 1709.25 0 0 0 30.00 30.00 16.05

1128.25 1028 -97.32 -0.69 0.00 2901.3 2960.0 2842.6 1876.1 1706.1 143.58 -9.39 224 1133.83 0.00 0.00 2.62 0.000 0.000 0.080 2901.97 2960.19 2843.75 1876.50 3249.00 0 0 0 30.00 30.00 16.04

1438.29 516 -97.32 -0.69 -40.00 2901.1 2959.3 2842.9 1875.9 3248.9 175.41 -10.22 286 1443.83 0.00 0.00 2.33 0.000 0.000 0.025 2903.50 2961.69 2845.31 1875.06 1710.56 0 0 0 30.00 30.00 16.08

1473.35 1028 -97.32 -0.69 0.00 2900.7 2958.8 2842.6 1876.0 1706.4 178.80 -9.79 293 1478.88 0.00 0.00 2.62 0.000 0.000 0.081 2900.75 2959.12 2842.38 1875.88 3248.94 0 0 0 30.00 30.00 16.08

1783.33 516 -97.32 -0.69 -40.00 2900.5 2958.4 2842.5 1875.6 3249.3 208.85 -9.47 355 1788.87 0.00 0.00 2.34 0.000 0.000 0.025 2901.84 2959.94 2843.75 1875.81 1704.44 0 0 0 30.00 30.00 16.11

1813.33 1028 -97.32 -0.69 0.00 2900.2 2957.7 2842.8 1876.4 1702.8 211.50 -9.00 361 1818.92 0.00 0.00 2.62 0.000 0.000 0.081 2901.47 2959.25 2843.69 1875.31 3247.88 0 0 0 30.00 30.00 16.10

1909 end dive: TARGET_DEPTH_EXCEEDED

state 1909 begin apogee

1909.59 10243 0.00 -0.11 0.00 2900.4 2957.9 2842.9 1875.8 2944.1 220.16 -9.24 380 1992.22 80.86 0.66 0.14 1.237 0.227 0.145 2497.38 2533.75 2461.00 2067.88 3024.12 0 0 0 12.29 16.00 15.59

1994 end apogee: CONTROL_FINISHED_OK

state 1994 begin climb

1993.88 10759 97.32 0.69 -40.00 2497.6 2535.5 2459.6 2068.5 3024.4 222.06 0.00 396 2076.84 78.07 0.71 2.40 1.207 0.058 0.019 2102.84 2108.88 2096.81 2341.38 1498.38 0 0 0 12.57 15.67 15.42

2078.92 11303 314.56 0.95 0.00 2100.3 2105.5 2095.2 2343.8 1485.0 226.60 -5.19 413 2247.59 162.43 0.18 2.63 1.198 0.072 0.058 1217.81 1216.88 1218.75 2429.81 3024.31 0 0 0 12.45 15.50 15.52

2549.67 516 314.56 0.95 -40.00 1210.8 1220.3 1201.3 2430.7 3024.2 117.82 27.31 507 2555.21 0.00 0.00 2.37 0.000 0.000 0.022 1211.72 1221.12 1202.31 2439.75 1531.88 0 0 0 30.00 30.00 15.84

2619.69 5125 314.56 0.95 0.00 1210.3 1219.6 1201.0 2442.4 1517.5 101.42 22.50 521 2625.33 0.00 0.19 2.55 0.000 0.358 0.068 1210.50 1220.00 1201.00 2399.69 3024.56 0 0 0 30.00 15.71 15.85

2929.72 16902 314.56 0.95 -40.00 1208.5 1221.7 1195.3 2399.8 3024.6 32.49 19.66 583 2935.24 0.00 0.00 2.35 0.000 0.000 0.020 1209.19 1222.44 1195.94 2409.44 1522.75 0 0 0 30.00 30.00 15.94

2954.71 17414 314.56 0.95 0.00 1208.2 1221.1 1195.2 2410.6 1510.6 29.37 13.08 588 2960.28 0.00 0.00 2.54 0.000 0.000 0.064 1209.03 1221.62 1196.44 2409.75 3022.44 0 0 0 30.00 30.00 15.91

3144.74 16386 314.56 0.95 0.00 1206.4 1220.2 1192.7 2410.2 3022.4 6.11 15.87 626 3146.08 0.00 0.00 0.00 0.000 0.000 0.000 1206.59 1220.31 1192.88 2410.69 3022.50 0 0 0 30.00 30.00 30.00

3170 end climb: SURFACE_DEPTH_REACHED

state 3170 begin surface coast

3180 end surface coast: CONTROL_FINISHED_OK

state 3180 begin surface

ID	180	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	13
MISSION	6	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	11.5
DIVE	233	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	350	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.5
STOP_T	0	N_FILEKB	4	VBD_MIN	400	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	2500	MOTHERBOARD	6
D_TGT	220	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	3	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	72
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_DIVE	70	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	100	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	185	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3625	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2100	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	MAXI_10V	1.4	SEABIRD_T_G	0.0042874566
D_OFFGRID	1000	PITCH_GAIN	45	FG_AHR_10V	11.185634	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	46.52951	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	100	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-154.46213	SEABIRD_C_G	-9.9419231
GLIDE_SLOPE	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022299301	SEABIRD_C_H	1.1375728
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0016241658
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002088599
MASS	55693	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	360	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139236	ROLL_MAX	3880	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	3230	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	3000	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	280922,015632,3712.314,-12459.844,34,0.7,35,13.4	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280922,020043,3712.316,-12459.857,2,0.8,5,13.4	MHEAD_RNG_PITCHd_Wd	350.2,14972,-25.5,-10.476,-29.53,1425,0.164
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	LineB_1	IRON	1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024
TGT_LATLONG	3720.400,-12500.000

FINISH	0.1,1.023511	FG_AHR_10Vo	11.211
SM_CCo	3216.51,24.42,0.995,0,1073.7,1060.5,1086.9,349.87	MEM0	60148,1,0,0
SM_GC	3.07,24.42,6.68,0.37,0.995,0.128,0.087,1073.7,1060.5,1086.9,175.1,3256.6,0,0,0,12.42,15.93,16.00	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	910148,32,135960,91
IRIDIUM_FIX	3710.93,-12502.40,280922,004045	DATA_FILE_SIZE	16108,633
TCM_TEMP	17.07	CAP_FILE_SIZE	262937,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3817792
SC_FREEKB	3808352	SDFILEDIR	1342,1
HUMID	52.50	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.10	CURRENT	0.049,306.3,1
INTERNAL_PRESSURE	8.79763	IMPLIED_C_PITCH	2046,30.45,452,0.0,0.00
_24V_AH	15.00,55.131	IMPLIED_C_VBD	2299,28.824415,451,0
_10V_AH	15.00,0.000	GPS	280922,025454,3712.797,-12459.820,4,1.3,7,13.4
FG_AHR_24Vo	46.645

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	423	1236	7860.81	nil	0	0	0.00
Pitch_motor	17	472	125.62	nil	0	0	0.00
Roll_motor	42	145	92.29	nil	0	0	0.00
Iridium	170	173	444.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	797	6	81.34	SciCon	3204	18	884.64
Fast	14	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	1667	2	50.03
Compass	716	5	53.77
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.38	16386	-97.32	-0.69	0.00	1066.6	1058.1	1075.1	174.8	3116.5	0.00	0.00	0	64.23	56.33	0.00	0.00	0.005	0.000	0.000	2151.06	2193.19	2108.94	174.81	3116.94	0	0	0	15.66	30.00	30.00
64.48	18983	-97.32	-0.69	-40.00	2150.7	2192.0	2109.4	174.9	3117.2	3.06	-3.54	11	100.75	21.55	9.28	2.10	0.006	0.473	0.025	2896.78	2962.25	2831.31	1879.94	1744.12	0	0	0	15.73	15.45	15.70
103.00	1028	-97.32	-0.69	0.00	2897.1	2961.1	2833.1	1879.9	1733.6	10.10	-16.46	19	108.58	0.00	0.00	2.60	0.000	0.000	0.077	2898.50	2962.38	2834.62	1879.94	3249.31	0	0	0	30.00	30.00	15.87
293.05	260	-97.32	-0.69	40.00	2899.1	2960.1	2838.2	1880.1	3249.5	47.34	-13.75	57	297.50	0.00	0.00	1.09	0.000	0.000	0.095	2899.53	2960.75	2838.31	1876.19	3899.44	0	0	0	30.00	30.00	15.92
383.08	1028	-97.32	-0.69	0.00	2899.5	2959.6	2839.3	1876.3	3899.5	58.72	-12.23	75	387.56	0.00	0.00	1.11	0.000	0.000	0.036	2900.78	2961.12	2840.44	1876.38	3161.88	0	0	0	30.00	30.00	15.98
568.36	516	-97.32	-0.69	-40.00	2900.9	2960.4	2841.4	1876.7	3160.1	80.34	-11.88	112	573.63	0.00	0.00	2.16	0.000	0.000	0.021	2901.34	2961.38	2841.31	1875.88	1724.25	0	0	0	30.00	30.00	16.02
583.30	1028	-97.32	-0.69	0.00	2900.9	2960.0	2841.8	1875.8	1719.8	82.04	-11.49	115	588.71	0.00	0.00	2.60	0.000	0.000	0.081	2902.50	2961.50	2843.50	1876.12	3249.19	0	0	0	30.00	30.00	16.00
773.19	0	-97.32	-0.69	0.00	2901.4	2960.3	2842.4	1876.1	3248.4	103.59	-11.18	153	774.52	0.00	0.00	0.00	0.000	0.000	0.000	2901.91	2961.00	2842.81	1876.25	3248.50	0	0	0	30.00	30.00	30.00
1078.24	516	-97.32	-0.69	-40.00	2901.1	2959.9	2842.2	1876.2	3249.1	138.72	-10.97	214	1083.78	0.00	0.00	2.34	0.000	0.000	0.024	2901.84	2961.00	2842.69	1875.81	1709.25	0	0	0	30.00	30.00	16.05
1128.25	1028	-97.32	-0.69	0.00	2901.3	2960.0	2842.6	1876.1	1706.1	143.58	-9.39	224	1133.83	0.00	0.00	2.62	0.000	0.000	0.080	2901.97	2960.19	2843.75	1876.50	3249.00	0	0	0	30.00	30.00	16.04
1438.29	516	-97.32	-0.69	-40.00	2901.1	2959.3	2842.9	1875.9	3248.9	175.41	-10.22	286	1443.83	0.00	0.00	2.33	0.000	0.000	0.025	2903.50	2961.69	2845.31	1875.06	1710.56	0	0	0	30.00	30.00	16.08
1473.35	1028	-97.32	-0.69	0.00	2900.7	2958.8	2842.6	1876.0	1706.4	178.80	-9.79	293	1478.88	0.00	0.00	2.62	0.000	0.000	0.081	2900.75	2959.12	2842.38	1875.88	3248.94	0	0	0	30.00	30.00	16.08
1783.33	516	-97.32	-0.69	-40.00	2900.5	2958.4	2842.5	1875.6	3249.3	208.85	-9.47	355	1788.87	0.00	0.00	2.34	0.000	0.000	0.025	2901.84	2959.94	2843.75	1875.81	1704.44	0	0	0	30.00	30.00	16.11
1813.33	1028	-97.32	-0.69	0.00	2900.2	2957.7	2842.8	1876.4	1702.8	211.50	-9.00	361	1818.92	0.00	0.00	2.62	0.000	0.000	0.081	2901.47	2959.25	2843.69	1875.31	3247.88	0	0	0	30.00	30.00	16.10
1909	end dive: TARGET_DEPTH_EXCEEDED
state	1909	begin apogee
1909.59	10243	0.00	-0.11	0.00	2900.4	2957.9	2842.9	1875.8	2944.1	220.16	-9.24	380	1992.22	80.86	0.66	0.14	1.237	0.227	0.145	2497.38	2533.75	2461.00	2067.88	3024.12	0	0	0	12.29	16.00	15.59
1994	end apogee: CONTROL_FINISHED_OK
state	1994	begin climb
1993.88	10759	97.32	0.69	-40.00	2497.6	2535.5	2459.6	2068.5	3024.4	222.06	0.00	396	2076.84	78.07	0.71	2.40	1.207	0.058	0.019	2102.84	2108.88	2096.81	2341.38	1498.38	0	0	0	12.57	15.67	15.42
2078.92	11303	314.56	0.95	0.00	2100.3	2105.5	2095.2	2343.8	1485.0	226.60	-5.19	413	2247.59	162.43	0.18	2.63	1.198	0.072	0.058	1217.81	1216.88	1218.75	2429.81	3024.31	0	0	0	12.45	15.50	15.52
2549.67	516	314.56	0.95	-40.00	1210.8	1220.3	1201.3	2430.7	3024.2	117.82	27.31	507	2555.21	0.00	0.00	2.37	0.000	0.000	0.022	1211.72	1221.12	1202.31	2439.75	1531.88	0	0	0	30.00	30.00	15.84
2619.69	5125	314.56	0.95	0.00	1210.3	1219.6	1201.0	2442.4	1517.5	101.42	22.50	521	2625.33	0.00	0.19	2.55	0.000	0.358	0.068	1210.50	1220.00	1201.00	2399.69	3024.56	0	0	0	30.00	15.71	15.85
2929.72	16902	314.56	0.95	-40.00	1208.5	1221.7	1195.3	2399.8	3024.6	32.49	19.66	583	2935.24	0.00	0.00	2.35	0.000	0.000	0.020	1209.19	1222.44	1195.94	2409.44	1522.75	0	0	0	30.00	30.00	15.94
2954.71	17414	314.56	0.95	0.00	1208.2	1221.1	1195.2	2410.6	1510.6	29.37	13.08	588	2960.28	0.00	0.00	2.54	0.000	0.000	0.064	1209.03	1221.62	1196.44	2409.75	3022.44	0	0	0	30.00	30.00	15.91
3144.74	16386	314.56	0.95	0.00	1206.4	1220.2	1192.7	2410.2	3022.4	6.11	15.87	626	3146.08	0.00	0.00	0.00	0.000	0.000	0.000	1206.59	1220.31	1192.88	2410.69	3022.50	0	0	0	30.00	30.00	30.00
3170	end climb: SURFACE_DEPTH_REACHED
state	3170	begin surface coast
3180	end surface coast: CONTROL_FINISHED_OK
state	3180	begin surface